CAJ | 학술논문

针对实际工程应用中少自由度高速抓放并联机器人的精度问题,提出了一种基于视觉测量的快速标定方法.以 Delta 机器人为例,通过系统分析和机构合理简化,建立了零点误差模型.构造出基于单目视觉平面测量的零点误差辨识模型,借助单目视觉仅检测机器人动平台沿水平面运动时末端 x 、 y 向的位置误差,识别出零点误差,进而修改零点位置实现末端位置误差补偿.标定实验结果表明该方法简单、有效、实用性强.
침대실제공정응용중소자유도고속조방병련궤기인적정도문제,제출료일충기우시각측량적쾌속표정방법.이 Delta 궤기인위례,통과계통분석화궤구합리간화,건립료영점오차모형.구조출기우단목시각평면측량적영점오차변식모형,차조단목시각부검측궤기인동평태연수평면운동시말단 x 、 y 향적위치오차,식별출영점오차,진이수개영점위치실현말단위치오차보상.표정실험결과표명해방법간단、유효、실용성강.
For the precision of high-speed pick-and-place parallel robot with lower-mobility in practical engineering, a fast calibration approach was proposed based on vision metrology in this paper. To specify this method,by means of system analysis and reasonable mechanism simplification of Delta robot,a zero error model was established. A zero error identification model using monocular vision was constructed in plane measurement. The zero error could be identified only measuring the positional error of end-effector in x axis and y axis by monocular vision,when the mo-bile platform was in horizontal motion. The error compensation was realized by modifying the ideal zero point position of the system. Calibration experiment results show that the method is simple,effective and strongly practical.